Modelagem e otimização de um mecanismo planar paralelo com dois graus de liberdade

Abstract

This work includes the study of the optimal design methods of parallel mechanisms. The mechanism studied has two degrees of freedom and five bars articulated. They were investigated in literatures and related to the topic mathematical equations to analyze the kinematics modeling of the structure, established a great performance criterion according to the geometric variables of the mechanism. Afterwards, simulations of kinematic model were held in MATLAB, and by the technique of Genetic Algorithms, optimization was possible to examine and maximize the cinematic dexterity of the manipulator by selecting the structural parameters of the mechanism that improves performance of it in a certain period of proposed work. After the results, a CAD model that was developed in SolidWorks® to simulate the movement mechanism collision analysis and functioning of the joints mechanism.